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RP GW CANOPEN
User guide
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User guide
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KUNBUS RP GW CANOPEN User guide

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User Manual
Gateway component for CANopen
PR100070 • 03/09/2015
Table of Contents KUNBUS GmbH

Table of Contents

1 General information ........................................................................................................................3
1.1 Disclaimer..................................................................................................................................3
1.2 Notes regarding this user manual..............................................................................................4
1.3 Validity .......................................................................................................................................4
1.4 Limitation of Liability ..................................................................................................................4
1.5 Customer Service ......................................................................................................................4
2 Safe use ...........................................................................................................................................5
2.1 User ...........................................................................................................................................5
2.2 Symbols.....................................................................................................................................5
3 Overview ..........................................................................................................................................6
3.1 Functionality ..............................................................................................................................6
3.2 Control elements .......................................................................................................................7
4 Installation .....................................................................................................................................11
5 Configuration.................................................................................................................................18
6 Technical data ...............................................................................................................................27
ii Gateway component for CANopen

1 General information

1.1 Disclaimer

© 2015 KUNBUS GmbH, Denkendorf (Deutschland)
The contents of this user manual have been prepared by the KUNBUS GmbH with the utmost care. Due to the technical development, the KUNBUS GmbH reserves the right to change or replace the contents of this user manual without prior notice. You can always obtain the latest version of the user manual at our homepage: www.kunbus.de
The KUNBUS GmbH shall be liable exclusively to the extent specified in General Terms and Conditions (www.kunbus.de/ agb.html).
The contents published in this user manual are protected by copyright. Any reproduction or use for the in-house requirements of the user is permitted. Reproduction or use for other purposes are not permitted without the express, written consent of the KUNBUS GmbH. Contraventions shall result in compensation for damages.
General information
Trademark protection
– KUNBUS is a registered trademark of the KUNBUS GmbH
– Windows® and Microsoft® are registered trademarks of the Microsoft,
Corp.
– Modbus is a registered trademark of the Modbus-IDA Organization.
KUNBUS GmbH Heerweg 15 c 73770 Denkendorf Deutschland
www.kunbus.de
Gateway component for CANopen 3 / 28

1.2 Notes regarding this user manual

This user manual provides important technical information that can enable you, as a user, to efficient, safe and convenient integration of the Gateways into your applications and systems. It is intended for trained, qualified personnel, whose sound knowledge in the field of electronic circuits and expertise of CANopen is assumed.
As an integral part of the module, the information provided here should be kept and made available to the user.

1.3 Validity

This document describes the application of the KUNBUS Gateways with the product number:
– PR100070, Release 00

1.4 Limitation of Liability

Warranty and liability claims will lapse if:
General information
– the product has been used incorrectly,
– damage is due to non-observance of the operating manual,
– damage is caused by inadequately qualified personnel,
– damage is caused by technical modification to the product (e.g.
soldering).

1.5 Customer Service

If you have any questions or suggestions concerning this product, please do not hesitate to contact us:
KUNBUS GmbH Heerweg 15 C
+49 (0)711 3409 7077
support@kunbus.de www.kunbus.de
Gateway component for CANopen
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2 Safe use

2.1 User

The Gateway may only be assembled, installed and put into operation by trained, qualified personnel. Before assembly, it is absolutely essential that this documentation has been read carefully and understood. Expertise in the following fields is assumed:
– Electronic circuits,
– Basic knowledge of CANopen,
– work in electrostatic protected areas,
– Locally applicable rules and regulations for occupational safety.

2.2 Symbols

The symbols used have the following meaning:
Safe use
DANGER
CAUTION
NOTICE
Hazard
Observe this information without fail!
There is a safety hazard that can lead to serious injuries and death.
Caution
There is a safety hazard that can result in minor injuries and material damage.
Note
There is a safety hazard that can result in material damage.
Gateway component for CANopen 5 / 28

3 Overview

3.1 Functionality

The KUNBUS Gateway is a protocol converter. It allows communication between networks with different protocols.
Overview
Illustration1: Functionality
A Gateway consists of 2 gateway components that master one specific protocol each. You can combine these gateway components as you wish. This design offers you a high degree of flexibility, since you can exchange the individual gateway components at any time. The following gateway components are available as slave at present:
– CANopen
– CC-Link
– DeviceNet
– EtherCAT
– EtherNet/IP
– Modbus RTU
– Modbus TCP
– POWERLINK
– PROFIBUS
– PROFINET
– Sercos III
Gateway component for CANopen
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3.2 Control elements

1
2
3
4
Front view
Overview
Illustration2: Front view CANopen
1 Status LEDs 2 Rotary coding switch
for setting the bitrate
3 2 Rotary coding switches
for setting the node ID
4 Fieldbus connection
D-Sub-9 socket for the connection to PROFIBUS.
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Top
1
1
2
Overview
Illustration3: Top
1 Interconnect Port
for interconnecting the gateway components.
2 Locking clamps
for securely attaching the gateway component to the DIN rail.
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Bottom
1
2
Overview
Illustration4: Bottom
1 Mains connection
with 24 V power supply
2 Locking clamps
for securely attaching the gateway component to the DIN rail.
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3.3 Status LEDs

The signals of the status LEDs for CANopen have the following meaning:
LED Designation Signal Meaning Power off Gateway not running
flashes, green Initialisation phase not yet completed on, green Operational flashes, red Correctable error (e.g. partner gateway
on, red Serious error/defect in the gateway
Run LED off Gateway component not running
on, green CANopen State: Operational 1 flash, green CANopen State: Stopped flashes, green CANopen State: Preoperational flickers, green CANopen: Automatic bitrate detection
Error LED off No Error
on, red CAN Controller is in Bus-Off State 1 flash, red CAN Controller has reached a Warning
2 flashes, red A Node Guard or Heartbeat event has
flickers, red CAN Automatic Baudrate Detection
Overview
component missing*)
or LSS node setting active
Limit
occurred
active or LSS Node setting active
* If this error occurs, an emergency object with the error code 90XXh is sent. The error code is entered in the object 1003h (pre-defined error field).
Gateway component for CANopen
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4 Installation

4.1 Preparations for interference-free operation

In the following section we have compiled some general information for you, which is important for interference-free operation. If you are already acquainted with this topic, you can skip to the next section. There, you will learn about which conditions are necessary for installing the gateway.
Cable routing
Route your cables separately in cable groups. This will protect your gateway from any unintended electromagnetic interferences.
The following groups should be routed separately:
Group Line
A Data and power supply lines for:
DC voltage below 60V
AC voltage below 25V
B Data and power supply lines for
DC voltage between 60V and 400V
AC voltage between 25 and 400V
C Power supply lines above 400V
Installation
– You can route cables of the same group together in cable ducts or
bundles.
– Cables of group A and B:
– Route the groups in separate bundles or
– in cable ducts at a minimum distance of 10 cm from each other.
– Cables of group C
– Route the groups in separate bundles or
– in cable ducts at a minimum distance of 50 cm from the other
groups.
Shielding
Shield your cables. This will reduce any unintended electromagnetic interferences.
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Potential equalization
Potential differences occur when devices are connected to different earths. These potential differences cause malfunctions.
To prevent malfunctions, you have to route an equipotential equalization conductor.
When doing so, bear in mind the following points:
– Select an equipotential equalization conductor with low impedance.
– Select as a reference value for the cross-section of the potential
equalization cable:
– 16 mm2 for potential equalization cables of up to 200 m in length
– 25 mm2 for potential equalization cables of more than 200 m in
length
– Use potential equalization cables made from copper or galvanized steel.
– Connect potential equalization cables extensively with the earth rail.
– The smallest surfaces as possible should be sandwiched between
potential equalization cables and signal cables.
If the devices of the control system are connected by shielded signal cables that are earthed on both sides, the impedance must be 10% of the shielding impedance.
Installation
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4.2 Requirements

The Gateway was designed for use in a control cabinet.
NOTICE
ü The protection class of the control cabinet must be equivalent to at least
IP54.
ü For installation in the control cabinet you need a DIN rail 35 x 7.5mm
(EN50022).
◦ Install the DIN rail horizontally in the control cabinet according to the
manufacturers' specifications. When doing so, make sure that the Gateway is at a sufficient distance from other devices.
Your gateway could get damaged if temperatures are too high.
èMake sure that the ambient temperature in the control cabinet is less
than 60°C.
èKeep the ventilation slots unobstructed. These must not be covered by
cables etc.
èMaintain sufficient distance from other devices.
Installation
Illustration5: Distances for installation
◦ Connect each gateway component individually to functional earth.
When doing so, make sure that both voltages have the same ground.
ð Your control cabinet now meets all requirements for installing the
gateway.
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4.3 Connecting Gateway Components

In order to attain a fully functional gateway, you have to interconnect both gateway components.
◦ Connect an interconnect port to each gateway component using the
plug-in jumper (product number PR100204).
◦
Installation
Illustration6: Connecting Gateway Components
Only ever interconnect 2 gateway components.
NOTICE
If you connect additional components, severe defects could result on all devices.
Gateway component for CANopen
ð You can now install the gateway in the control cabinet.
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4.4 Installing Gateway in the Control Cabinet

◦ Hold the raster element of the gateway on the DIN rail.
◦ Press down the locking elements towards the gateway.
◦ Make sure that the gateway is firmly attached to the DIN rail.
Installation
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4.5 Connecting Power Supply

3
1
2
4
To connect the gateway component to the power supply, you need a spring-loaded terminal (e.g. Metz-Connect SP995xxVBNC).
You have to connect each gateway component separately to a power supply. Never interconnect functional earth and GND, otherwise the galvanic isolation between gateway GND and fieldbus ground will be removed. Instead, connect the functional earth with low impedance to the potential equalization. You can then dispense with this connection if the shield of the fieldbus cable is connected to the potential equalisation with lower impedance when entering the control cabinet.
Installation
NOTICE
Use the same power supply for both gateway components.
Different power supplies could cause a defect on both module components and malfunctions.
èEnsure in particular that no potential differences occur between the
GND pins (2).
Pin Assignment:
Pin Assignment
1 24V for module supply 2 GND 3 Do not connect! 4 Functional earth
NOTICE
Gateway component for CANopen
Do not connect GND to PE
This connection could cause unintended malfunctions.
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4.6 Connecting Gateway to the Fieldbus

To connect the gateway component to CANopen, you need one D-SUB9 connector.
The pin assignment complies with the specifications of the CiA.
Pin Signal Description 1 - Do not connect! 2 CAN_L 3 CAN_GND Data transmission potential
earth (galvanically isolated) 4 - Do not connect! 5 CAN_SHLD 6 - Do not connect! 7 CAN_H 8 Do not connect! 9 - Do not connect!
Installation
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5 Configuration

5.1 Supported Size of the Process Data

NOTICE
The gateway component for CANopen supports process data of a length up to 512 bytes.
Bear in mind that the maximum length of the process data is always determined by the fieldbus with the shorter data length.
Example:
CANopen supports 512 bytes
PROFIBUS supports 488 bytes
In conjunction with PROFIBUS/ CANopen this means that 488 bytes are transmitted and updated cyclically.
Configuration
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Setting Node ID using the
1
2
3
rotary coding switch

5.2 Address Assignment

You have 2 different options for setting the node ID and bitrate for communication with CANopen.
– Using the rotary coding switch
– Using the software of the CANopen Master (LSS)
Setting Node ID and Bitrate using the rotary coding switch
You can set the station address of the gateway component using the rotary switches x10 and x1.
The address is assigned in decimal format. Thus, you have a value range from 1-98 at your disposal.
With the two rotary switches you form a two-digit decimal number, in which switch x10 (2) determines the tens digit and switch x1 (3) determines the single digit.
Configuration
Illustration7: Coding switch
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Example: You want to set the value 39.
Setting for switch x10= 3
Setting for switch x 1 = 9
The settings execute the following actions:
Switch setting Action "01" to "98" Setting the node ID "00" Address assignment via LSS tele-
gram
"99" Firmware Reset
Info! The new node ID is first used when you restart the gateway component.
Configuration
Setting Bitrate using the Rotary Coding Switch
You can set the bitrate of the gateway component using the rotary switch DR (1).
Values:
0: Automatic bitrate detection 1 10 Kbit/s 2: 20 Kbit/s 3: 50 Kbit/s 4: 125 Kbit/s 5: 250 Kbit/s 6: 500 Kbit/s 7: 800 Kbit/s 8: 1000 Kbit/s 9 LSS. Bitrate is set by LSS master
Setting Node-ID and Bitrate using the CANopen Master
The gateway component supports LSS. You can set the node ID and/or bitrate using software of your CANopen Master and save it permanently by LSS.
Setting the node ID using LSS
Setting Bitrate using LSS
Gateway component for CANopen
◦ Set the switch "Node ID x 10" and switch Node ID x 1 to 0
◦ Assign a node ID for the gateway component in the master software of
your CANopen Master.
◦ Set the switch "Data Rate Selection" to 9
◦ Assign a bitrate for the gateway component in the master software of
your CANopen Master.
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5.3 CANopen Configuration

To configure the gateway component, you have to perform the appropriate settings in the standard objects with the configuration software of your CANopen Master.
You can structure process data exchanged between the gateways application-specifically on the CANopen side using the process data object. For this purpose, CANopen uses mapping objects addressed via index and subindex
The gateway component supports the objects listed below. They comply with the specification DS302 (Version 4.02) of the CiA.
Configuration
Index Object Name Sub-
index
1000h Device Type 00h Device Type U32 RO 0000 0000h (No profile)
1001h Error register 00h Error register U8 RO
1003h Pre-defined error
field
1005h COB-ID Sync 00h COB-ID Sync U32 RW Default value is 0000 0080h
1006h Communication
cycle period
1008h Manufacturer
device name
1009h Manufacturer
hardware version
100Ah Manufacturer
software version
100Ch Guard time 00h Guard time U16 RW
100Dh Life time factor 00h Life time factor U8 RW
1010h Store
Parameters
1011h Restore
parameters
1014h COB ID EMCY 00h COB ID EMCY U32 RO Default value is 80h + Node ID
1015h Inhibit Time
EMCY
1016h Consumer
Heartbeat Time
1017h Producer
Heartbeat Time
1018h Identity object 00h Number of entries U8 RO 04h
00h Number of errors U8 RW
01h... 08h
00h Defines the sync interval U32 RW Default value is 0000 0000h
00h Manufacturer device name Visible
00h Manufacturer hardware version Visible
00h Manufacturer software version Visible
00h Largest sub index supported U8 RO 01h
01h Save all parameters U32 RW Baud rate and node ID cannot be
00h Largest sub index supported U8 RO 01h
01h Restore all default parameters U32 RW
00h Inhibit Time EMCY U16 RW Default value is 0000h
00h Number of entries U8 RO 01h
01h Consumer Heartbeat Time U32 RW Node ID + Heartbeat Time.
00h Producer Heartbeat Time U16 RW Default value is 0000h
01h Vendor ID U32 RO 000002D5h
02h Product Code U32 RO 71
03h Revision Number U32 RO 00010000h
04h Serial Number U32 RO
Description Data Type Access Comment
Error field U32 RO
RO "KUNBUS-GW CANopen"
string
RO 1.0
string
RO 1.0
string
stored using this command.
Value must be a multiple of 1ms.
Default value is 0000h
Gateway component for CANopen 21 / 28
1400h
...
1407h
1600h
...
1607h
1800h
...
1807h
1A00h
...
1A07h
Table1: Extract from the specification DS302 (Version 4.02)
Receive PDO parameter
Receive PDO mapping
Transmit PDO
parameter
Transmit PDO mapping
00h Largest sub-index supported U8 RO 02h
01h COB ID used by PDO U32 RW
02h Transmission type U8 RW
00h No. of mapped application
objects in PDO
01h Mapped object #1 U32 RW
02h Mapped object #2 U32 RW
03h Mapped object #3 U32 RW
04h Mapped object #4 U32 RW
05h Mapped object #5 U32 RW
06h Mapped object #6 U32 RW
07h Mapped object #7 U32 RW
08h Mapped object #8 U32 RW
00h Largest sub-index supported U8 RO 05h
01h COB ID used by PDO U32 RW
02h Transmission type U8 RW
03h Inhibit Time EMCY U16 RW
05h Event Timer (ms) U16 RW
00h No. of mapped application
objects in PDO
01h Mapped object #1 U32 RW
02h Mapped object #2 U32 RW
03h Mapped object #3 U32 RW
04h Mapped object #4 U32 RW
05h Mapped object #5 U32 RW
06h Mapped object #6 U32 RW
07h Mapped object #7 U32 RW
08h Mapped object #8 U32 RW
U8 RW
Configuration
U8 RW
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Fieldbus Output Data (Direction Master)
With these objects you can read process data that the gateway component sends to the Master. You have 3 possible access types:
– Byte
– Word
– Doubleword
Configuration
Index Object Name Sub-
index
2000h Output Buffer 00h Number of entries U8 RO Access type: Byte
01h Output Buffer Byte #0 U8 RO
02h Output Buffer Byte #1
... ...
80h Output Buffer Byte #127
2001h Output Buffer 00h Number of entries U8 RO
01h Output Buffer Byte #128 U8 RO
02h Output Buffer Byte #129
... ...
80h Output Buffer Byte #255
2002h Output Buffer 00h Number of entries U8 RO
01h Output Buffer Byte #256 U8 RO
02h Output Buffer Byte #257
... ...
80h Output Buffer Byte #383
2003h Output Buffer 00h Number of entries U8 RO
01h Output Buffer Byte #384 U8 RO
02h Output Buffer Byte #385
... ...
80h Output Buffer Byte #511
Description Data Type Access Remark
2010h Output Buffer 00h Number of entries U8 RO Access type: Word
01h Output Buffer Word #0 U16 RO
02h Output Buffer Word #1
... ...
40h Output Buffer Word #63
2011h Output Buffer 00h Number of entries U8 RO
01h Output Buffer Word #64 U16 RO
02h Output Buffer Word #65
... ...
40h Output Buffer Word #127
2012h Output Buffer 00h Number of entries U8 RO Access type: Word
01h Output Buffer Word #128 U16 RO
02h Output Buffer Word #129
... ...
40h Output Buffer Word #191
2013h Output Buffer 00h Number of entries U8 RO
01h Output Buffer Word #192 U16 RO
02h Output Buffer Word #193
... ...
40h Output Buffer Word #255
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2020h Output Buffer 00h Number of entries U8 RO Access type: Doubleword
01h Output Buffer DWord #0 U32 RO
02h Output Buffer DWord #1
... ...
20h Output Buffer DWord #31
2021h Output Buffer 00h Number of entries U8 RO
01h Output Buffer DWord #32 U32 RO
02h Output Buffer DWord #33
... ...
20h Output Buffer DWord #63
2022h Output Buffer 00h Number of entries U8 RO Access type: Doubleword
01h Output Buffer DWord #64 U32 RO
02h Output Buffer DWord #65
... ...
20h Output Buffer DWord #95
2023h Output Buffer 00h Number of entries U8 RO
01h Output Buffer DWord #96 U32 RO
02h Output Buffer DWord #97
... ...
20h Output Buffer DWord #127
Configuration
2200h Properties of the
partner gateway component
00h Number of entries U8 RO
01h Input size U16 RO
02h Output size U16 RO
03h Module type U16 RO 71
04h Fieldbus state U8 RO s. Table Fieldbus Status
Value Meaning
0x00 Fieldbus not connected. Check all connections
0x01 Fieldbus connected, no data communication. Check whether a node ID is
set
0x02 Gateway component configured, no data communication
0x03 Cyclical data exchange
Table2: Fieldbus status
Gateway component for CANopen
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Fieldbus Input Data (from the Master)
With these objects you can read process data that the CANopen­Master sends to the gateway component. You have 3 possible access types:
– Byte
– Word
– Doubleword
Index Object Name Su-
2100h Input Buffer 00h Number of entries U8 RO Access type: Byte
2101h Input Buffer 00h Number of entries U8 RO
2102h Input Buffer 00h Number of entries U8 RO Access type: Byte
2103h Input Buffer 00h Number of entries U8 RO
Description Data Type Access Comment binde x
01h Input Buffer Byte #0 U8 RO
02h Input Buffer Byte #1
... ...
80h Input Buffer Byte #127
01h Input Buffer Byte #128 U8 RO
02h Input Buffer Byte #129
... ...
80h Input Buffer Byte #255
01h Input Buffer Byte #256 U8 RO
02h Input Buffer Byte #257
... ...
80h Input Buffer Byte #383
01h Input Buffer Byte #384 U8 RO
02h Input Buffer Byte #385
... ...
80h Input Buffer Byte #511
Configuration
2110h Input Buffer 00h Number of entries U8 RO Access type: Word
01h Input Buffer Word #0 U16 RO
02h Input Buffer Word #1
... ...
40h Input Buffer Word #63
2111h Input Buffer 00h Number of entries U8 RO
01h Input Buffer Word #64 U16 RO
02h Input Buffer Word #65
... ...
40h Input Buffer Word #127
Gateway component for CANopen 25 / 28
2112h Input Buffer 00h Number of entries U8 RO Access type: Word
01h Input Buffer Word #128 U16 RO
02h Input Buffer Word #129
... ...
40h Input Buffer Word #191
2113h Input Buffer 00h Number of entries U8 RO
01h Input Buffer Word #192 U16 RO
02h Input Buffer Word #193
... ...
40h Input Buffer Word #255
2120h Input Buffer 00h Number of entries U8 RO Access type: Doubleword
01h Input Buffer DWord #0 U32 RO
02h Input Buffer DWord #1
... ...
20h Input Buffer DWord #31
2121h Input Buffer 00h Number of entries U8 RO
01h Input Buffer DWord #32 U32 RO
02h Input Buffer DWord #33
... ...
20h Input Buffer DWord #63
2122h Input Buffer 00h Number of entries U8 RO Access type: Doubleword
01h Input Buffer DWord #64 U32 RO
02h Input Buffer DWord #65
... ...
20h Input Buffer DWord #95
2123h Input Buffer 00h Number of entries U8 RO
01h Input Buffer DWord #96 U32 RO
02h Input Buffer DWord #97
... ...
20h Input Buffer DWord #127
Configuration
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6 Technical data

6.1 Technical data

Dimensions
Width 22.5 mm Height 96 mm Depth 110.4 mm Weight 90 g
Electrical Data
Power supply 24 V Power consumption during operation
(cyclical data exchange) Status display LED
Environmental Conditions
Ambient temperature 0 – 60 °C Storage temperature - 25 – 70 °C Humidity 93 % (at 40 °C) Condensing Not allowed Protection class
Control cabinet
Housing
Terminal area
100mA
IP54
IP20
IP20
Technical data
Assembly Data
DIN rail 35 x 7.5 mm Height 96 mm Depth 110.4 mm
CANopen Interface
Device Type Slave Station address 1-98 (decimal) Input data
Output data
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512 byte
512 byte
Illustration8: Side dimensions
Technical data
Illustration9: Front dimensions
Gateway component for CANopen
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